Observer based sensorless control for u-shape single phase synchronous permanent magnet motors

ABSTRACT

A method for controlling a U-shape single phase synchronous permanent magnetic motor having a rotor and a stator and coupled to a single phase alternating current (AC) power source through a switch includes estimating back-electromotive force and the position of the rotor based on a voltage feedback signal, a current feedback signal, and a phase feedback signal indicative of a zero-crossing of the single phase AC power source. Once the speed and position of the rotor are determined, a controller can trigger a switch to supply power to the motor.

BACKGROUND OF THE INVENTION

With the development of the advanced motor control technologies in home appliances, more and more new motor control methods have been proposed to make the home appliance cheaper, more intelligent and smart. Sensorless control is one of the key technologies, which can make motors run without a position sensor, such as a Hall senor, encoder or etc. It is known to use sensorless control in three phase motor control systems. But three phase motors are not often used in the drains systems of home appliances such as dishwashers and washing machines. Rather, such systems broadly use a U-shape single phase synchronous permanent magnetic motor (U-SPSPM motor). However, sensorless control of a U-SPSPM motor is not commonly used for several reasons.

A U-SPSPM motor, without knowing the magnetic rotor position, cannot be started in a unidirectional rotation because of cogging torque. Moreover, without rotor position information, any realization of the optimal power regulation will be impossible. Usually a sensor, such as a Hall sensor, is used to get the rotor position information. But there are several trade-offs with use of a sensor-based control: (1) associated costs for a sensor and wiring, (2) required space to add the sensor and circuitry, and (3) added energy consumption. Thus, there is a benefit to achieving sensorless control of a U-SPSPM motor without a physical position sensor.

It is known to provide sensorless control of a U-SPSPM motor with only a voltage signal. Only the voltage signal across the motor is used in this method to estimate the rotor position. A problem with this method is that rotor position information is estimable only when the current is equal to zero, i.e., when u=e₀, or when the voltage equals a back-electromotive force. Thus, only detecting motor winding voltage cannot provide a maximum output power and the maximum torque. Consequently, the system will be less efficient based on the same motor design or motor capability.

BRIEF DESCRIPTION OF THE INVENTION

In one aspect, a method is provided for controlling a U-shape single phase synchronous permanent magnetic motor (U-SPSPM motor) having a rotor and a stator and coupled to a single phase alternating current (AC) power source through a switch. The method includes measuring a feedback signal representative of the voltage across the motor leads; measuring a feedback signal representative of the current through the motor; measuring a feedback signal indicative of a zero-crossing of the single phase AC power source; estimating the back electromotive force (back-EMF) of the motor based on an observer model with inputs indicative of the measured feedback signals; estimating a rotational speed of the motor and the position of the rotor based on the determination of the back electromotive force; and triggering the switch to supply power to the motor based on the estimates of the rotational speed of the motor and the position of the rotor.

In another aspect a circuit is provided for controlling a U-shape single phase synchronous permanent magnetic motor (U-SPSPM motor). The circuit includes an alternating current (AC) power source connected to a U-SPSPM motor having a rotor and a microcontroller coupled to the AC power source and to the U-SPSPM motor. A phase sensor is connected between the AC power source and the microcontroller and is configured to send a signal representative of zero crossing to the microcontroller. A current sensing circuit is coupled to the microcontroller and is configured to send a signal representative of a current value to the microcontroller. A voltage sensing circuit is coupled to the microcontroller and is configured to send a signal representative of a voltage value to the microcontroller. A triac is connected in series between the (AC) power source and the U-SPSPM motor, and is coupled to the microcontroller. An observer model in the microcontroller is configured to determine back electromotive force (back-EMF) and estimate a position of the rotor based on the back-EMF.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings:

FIG. 1 is a schematic, side view of a dishwasher according to a first embodiment of the invention.

FIG. 2 is a schematic view of a control system of the dishwasher in FIG. 1.

FIG. 3 is an enlarged schematic view of a circuit for a sensorless control in accord with the invention.

FIG. 4 is a flow chart of a method of sensorless speed control using the control circuit of FIG. 3.

FIG. 5 is a flow chart of a starting strategy using the control circuit of FIG. 3.

DESCRIPTION OF EMBODIMENTS OF THE INVENTION

The invention is generally directed toward sensorless control of a U-SPSPM motor such as those that may be used in a drain system of a treating appliance such as a dishwasher or a washing machine. While the novelty of the claimed method is not limited to appliances, embodiments described herein will be in the context of appliances and, more specifically, to a dishwasher.

FIG. 1 is a schematic, side view of a treating appliance where a U-SPSPM motor may be used, illustrated here in the context of a dishwasher 10. While the illustrated treating appliance is a dishwasher 10, other treating appliances are possible, non-limiting examples of which include other types of dishwashing units, such as in-sink dishwashers, multi-tub dishwashers, or drawer-type dishwashers, washing machines, and other applications where a U-SPSPM motor is practical.

The dishwasher 10 may have a cabinet 12 defining an interior, which is accessible through a door (not shown). The cabinet 12 may comprise a chassis or a frame to which panels may be mounted. For built-in dishwashers, the outer panels are typically not needed. At least one wash tub 14 is provided within the interior of the cabinet 12 and defines a treating chamber 16 to receive and treat utensils according to a cycle of operation, often referred to a wash cycle whether or not washing occurs. The wash tub 14 has an open face that is closed by the door.

For purposes of this description, the term “utensil(s)” is intended to be generic to any item, single or plural, that may be treated in the dishwasher 10, including, without limitation; dishes, plates, pots, bowls, pans, glassware, and silverware.

One or more utensil racks, such as a lower utensil rack 28 and an upper utensil rack 26 may be provided in the treating chamber 16. The racks 26, 28 hold utensils (not shown) that may be treated in the treating chamber 16. The racks 26, 28 may be slid in and out of the treating chamber 16 through the opening closed by the door.

A liquid supply system is provided for supplying liquid to the treating chamber 16 as part of a wash cycle for washing any utensils within the racks 26, 28. The liquid supply system includes one or more liquid sprayers, which are illustrated in the form of spray arm assemblies 34, 38, 40, that are provided within the treating chamber 16 and are oriented relative to the racks 26, 28 such that liquid sprayed from the spray arm assemblies 34, 38, 40 may be directed into one or more of the racks 26, 28.

It should be noted that the stacked arrangement of the utensil racks merely serves to illustrate an environment for the invention. For example, the invention may be implemented in a stacked arrangement having a silverware basket, the lower and upper utensil rack, and with upper, middle, and lower level spray arm assemblies having spray heads for the silverware basket alternatively arranged in between the lower and upper utensil rack.

The liquid supply system further comprises a sump 30 to collect by gravity, liquid sprayed within the treating chamber 16. The sump 30 is illustrated as being formed with or affixed to a lower portion of the wash tub 14 to collect liquid that may be supplied into or circulated in the wash tub 14 during, before, or after a cycle of operation. However, the sump 30 may be remote from the wash tub 14 and fluidly coupled by suitable fluid conduits.

The liquid supply system further comprises a pump assembly 31 fluidly coupled to the sump 30, and as illustrated, may include a wash pump 32 and a drain pump 33. The wash pump 32 fluidly couples the sump 30 to the spray arm assemblies 34, 38, 40 through a spray arm supply conduit 46 to recirculate liquid that collects in the sump to the spray arm assemblies 34, 38, 40 for spraying via the racks 26, 28. The drain pump 33 fluidly couples the sump 30 to a drain conduit (not shown) for draining liquid collected in the sump 30 to a household drain, such as a sewer line, or the like. The wash pump 32 and/or drain pump 33 may be energized by a U-SPSPM motor (not shown explicitly in FIGS. 1 and 2).

While the pump assembly 31 may include the wash pump 332 and the drain pump 33, in an alternative embodiment, the pump assembly 31 may include a single pump, which may be operated to supply liquid to either the drain conduit or the spray arm support conduit 46 such as by rotating in opposite directions or by valves. In such a case the single pump may utilize a U-SPSPM motor.

The dishwasher 10 further comprises a control system having various components and sensors for controlling the flow and condition of the liquid to implement a wash cycle. The control system includes a controller 50 for implementing one or more cycles of operation. As seen in FIG. 2, the controller 50 is operably coupled to the pumps 32, 33, a heater 46, and one or more sensors 58 to either control these components and/or receive their input for use in controlling the components. The controller 50 is also operably coupled to a user interface 56 to receive input from a user for the implementation of the wash cycle and provide the user with information regarding the wash cycle. In this way, the controller 50 can implement a wash cycle selected by a user according to any options selected by the user and provide related information to the user.

The controller 50 may also comprise a central processing unit (CPU) 52 and an associated memory 54 where various wash cycle and associated data, such as look-up tables, algorithms, may be stored. Non-limiting examples of treatment cycles include normal, light/china, heavy/pots and pans, and rinse only. One or more software applications, such as an arrangement of executable commands/instructions may be stored in the memory and executed by the CPU 52 to implement the one or more wash cycles. The controller 50 may further include a clock (not shown). The clock may be alternatively located in another component operably coupled to the controller 50.

The user interface 56 provided on the dishwasher 10 and coupled to the controller 50 may include operational controls such as dials, lights, knobs, levers, buttons, switches, and displays enabling the user to input commands to the controller 40 and receive information about the selected treatment cycle. The user interface 56 may be used to select a treatment cycle to treat a load of utensils. Alternatively, the treatment cycle may be automatically selected by the controller 50 based on the soil levels sensed by any sensors in the dishwasher 10 to optimize the treatment performance of the dishwasher 10 for a particular load of utensils.

Referring to FIG. 3, a circuit 100 may be included at least partially in the controller 50. The circuit 100 includes a connection to an alternating current (AC) power source 102 and a U-SPSPM motor 104. The AC power source 102 in the United States is typically 120 volts and 60 Hz. A microcontroller 106, which may be the CPU 52 or which may be a distinct processor, is coupled to the AC power source by an observer circuit or sensor 108 that detects the zero crossing, i.e., phase, of the current flow and sends a ZC signal 109 representative of the phase of the voltage polarity to the microcontroller 106. The microcontroller 106 is also coupled to a current sensing circuit 110 that sends an analog signal 112 representative of a current value to the microcontroller. The microcontroller 106 is also coupled to a voltage sensing circuit 114 that senses voltage across the U-SPSPM motor 104 and sends an analog signal 116 representative of a voltage value to the microcontroller. A triac 118 in series between the (AC) power source 102 and the U-SPSPM motor 104 is coupled to the microcontroller 106. The triac 118, of course, switches power to the U-SPSPM motor 104 on or off, depending on a trigger signal 120 sent from the microcontroller 106.

The aforementioned structure provides a motor control system for controlling the U-SPSPM motor 104 by estimating rotor position without the use of a rotor position sensor. The system estimates the position of the rotor of the U-SPSPM motor 104 based on estimates of back electromotive force (back-EMF). The back-EMF is estimated by an observer model 122 in the microcontroller 106 based on the analog signal 112 for stator current, the analog signal 116 for stator voltage, and the ZC signal 109 for the AC zero-crossing (phase). The observer model 122 estimates the back-EMF at an arbitrarily fine time resolution to produce a high-fidelity back-EMF estimate. Prior art sensorless motor controllers only include measuring the back-EMF when the stator current is zero which limits the fidelity of the back-EMF estimate to the frequency of the input power source (e.g. a 60 Hz power source has a zero-crossing 120 times a second). Because the observer model 122 estimates the back-EMF with a high fidelity model, the control system can control commutation of the motor on a fine time scale that is independent of the AC power source. For example, the control system can trigger the TRIAC 118 based, in part, on the back-EMF estimate.

The back-EMF observer model relates stator current and stator voltage to back-EMF according using the following relationships. Stator winding voltage is obtained from equation (1):

$\begin{matrix} {u = {{{r_{A}i_{A}} + \frac{d\; \psi_{A}}{dt}} = {{r_{A}i_{A}} + {L_{A}\frac{{di}_{A}}{dt}} + e_{0}}}} & (1) \end{matrix}$

where μ=stator voltage, i_(A)=stator current, r_(A)=stator resistance, and L_(A)=stator inductance. Back-EMF produced by the magnetic rotor is obtained from equation (2):

$\begin{matrix} {e_{0} = {{{- \psi_{0}}\sin \; \theta \; \frac{d\; \theta}{dt}} = {{- \psi_{0}}\omega \; \sin \; \theta}}} & (2) \end{matrix}$

where e₀=back-emf, Ψ₀=rotor flux constant, and ω=rotor speed.

Preferably the circuit 100 provides contiguous (if not continuous) estimation of the back-EMF. That is, the voltage and current measurements occur at a sampling rate much higher (and not a function of) the mains power frequency because the current is directly included in the back-EMF model (instead of being ignored by only making measurements at the current zero crossing). Therefore, the control scheme includes estimating the back-EMF at arbitrarily fine resolution instead of being defined by the current zero crossing.

Referring now to FIG. 4, a method for controlling the U-SPSPM motor 104 commences with a start of a speed control program 130 in the microcontroller 106. At step 132, the observer circuit or sensor 108 detects the zero crossing, i.e., phase, of the current flow and sends a ZC signal 109 representative of the phase of the voltage polarity to the microcontroller 106. At step 134, the voltage sensing circuit 114 senses voltage across the U-SPSPM motor 104 and sends an analog signal 116 representative of a voltage value to the microcontroller 106. At step 136, the current sensing circuit 110 sends an analog signal 112 representative of a current value to the microcontroller 106. At step 138, the microcontroller 106 operates the observer model 122 to estimate the back-EMF and the rotor position in the U-SPSPM motor 104. With the known rotor position from the observer model 122, the microcontroller 106 can compare the speed of the rotor with a predetermined synchronous speed for the U-SPSPM motor 104 at step 140. Based on that comparison, the microcontroller 106 can trigger or adjust the triac 118 to control the U-SPSPM motor 104. For example, if the speed is greater than the synchronous speed, the microcontroller 106 can decrease the trigger angle of the triac 118 at step 142. Conversely, if the speed is not greater than the synchronous speed, the microcontroller 106 can increase the trigger angle of the triac 118 at step 144. Either way, with the known rotor position from the observer model 122, the microcontroller 106 can ascertain the rotor polarity at step 146. If the polarity is north and the phase voltage is greater than or equal to zero at step 148, or if polarity is south and the phase voltage is less than or equal to zero at step 150, the microcontroller 106 can signal the triac 118 on at step 152. Conversely, if the polarity is north and the phase voltage is not greater than or equal to zero at step 148, or if polarity is south and the phase voltage is not less than or equal to zero at step 150, the microcontroller 106 can signal the triac 118 off at step 154.

FIG. 5 illustrates a starting strategy for the U-SPSPM motor 104 using the senseless control method of FIG. 4. At startup 200, the microcontroller 106 enables the triac 118 to allow two pulses to be sent to the U-SPSPM motor 104 at step 202. Meanwhile the observer model 122 estimates the back-EMF and the rotor position in the U-SPSPM motor 104 at step 204, and the microcontroller 106 determines whether an integration of the back-EMF exceeds a predetermined threshold. If the integration is less than the threshold, the microcontroller 106 initiates a start sequence for the U-SPSPM motor 104 for one polarity at step 206. If the integration is more than the threshold, the microcontroller 106 initiates a different start sequence for the U-SPSPM motor 104 for the other polarity at step 208. Based on the analog signals 112, 116, the microcontroller 106 can determine if the motor has started at step 210. If NO, then the associated pump (wash or drain for example) is off, and the method reverts to the startup 200. If YES, then the microcontroller 106 can compare the speed of the rotor with a predetermined synchronous speed for the U-SPSPM motor 104 at step 212. If NO, then the microcontroller 106 can adjust the triac 118 at step 214 as above to achieve synchronicity, and if not then, the associated pump will remain off. If synchronicity is achieved, then the associated pump will be ON and working normally at step 216.

While the invention has been specifically described in connection with certain specific embodiments thereof, it is to be understood that this is by way of illustration and not of limitation. Reasonable variation and modification are possible within the scope of the forgoing disclosure and drawings without departing from the spirit of the invention which is defined in the appended claims.

PARTS LIST 10 dishwasher 12 cabinet 14 wash tub 16 treating chamber 28 lower utensil rack 26 upper utensil rack 28 lower level spray arm assembly 38 mid level spray arm assembly 40 upper level spray arm assembly 30 sump 31 pump assembly 32 wash pump 33 drain pump 50 controller 56 user interface 52 CPU 54 memory 100 circuit 102 (AC) power source 104 U-SPSPM motor 106 microcontroller 108 observer circuit or sensor 109 ZC signal 110 current sensing circuit 112 analog signal 114 voltage sensing circuit 116 analog signal 118 triac 120 trigger signal 122 observer model 130 speed control program 

1. A method for controlling a U-shape single phase synchronous permanent magnetic motor (U-SPSPM motor) having a rotor and a stator and coupled to a single phase alternating current (AC) power source through a switch, the method comprising: measuring a feedback signal representative of voltage across the motor leads; measuring a feedback signal representative of current through the motor; measuring a feedback signal indicative of a zero-crossing of the single phase AC power source; estimating back electromotive force (back-EMF) of the motor based on an observer model with inputs indicative of the measured feedback signals; estimating a rotational speed of the motor and a position of the rotor based on the estimation of the back-EMF; and triggering the switch to supply power to the motor based on the estimates of the rotational speed of the motor and the position of the rotor.
 2. The method of claim 1 wherein the feedback signal representative of the voltage across the U-SPSPM motor leads is measured by a voltage sensing circuit coupled to a microcontroller, and configured to send the feedback signal to the microcontroller.
 3. The method of claim 1 wherein the feedback signal representative of the current through the U-SPSPM motor is measured by a current sensing circuit coupled to a microcontroller, and configured to send the feedback signal to the microcontroller.
 4. The method of claim 1 wherein the feedback signal indicative of a zero-crossing of the single phase AC power source is measured by a phase sensor connected between the AC power source a microcontroller, and configured to send the feedback signal to the microcontroller.
 5. The method of claim 1 wherein the switch is a triac and further comprising adjusting a trigger angle of the triac based on the back-EMF and the rotational speed of the motor and the position of the rotor.
 6. The method of claim 1 further comprising comparing the speed of the rotor with a predetermined synchronous speed for the U-SPSPM motor.
 7. The method of claim 6 further comprising adjusting the switch if the speed of the rotor is greater than or less than the synchronous speed.
 8. The method of claim 7 wherein adjusting the switch includes decreasing a trigger angle of a triac.
 9. The method of claim 7 wherein adjusting the switch includes increasing a trigger angle of a triac.
 10. The method of claim 1 wherein the triggering includes setting the switch ON when polarity of the rotor is north and the phase value is greater than or equal to zero, or if polarity is south and the phase value is less than or equal to zero.
 11. The method of claim 1 wherein the triggering includes setting the switch OFF when polarity of the rotor is north and the phase value is not greater than or equal to zero, or if polarity is south and the phase value is not less than or equal to zero.
 12. The method of claim 1 further comprising pulsing the U-SPSPM motor before it starts and estimating the back-EMF and the rotor position in the U-SPSPM motor during the pulses.
 13. The method of claim 12 further comprising integrating the back-EMF, comparing the integrated back-EMF to a threshold, and initiating a start sequence based on the polarity of the rotor in the rotor position and the integrated back-EMF.
 14. A circuit for controlling a U-shape single phase synchronous permanent magnetic motor (U-SPSPM motor) comprising: an alternating current (AC) power source connected to a U-SPSPM motor having a rotor; a microcontroller coupled to the AC power source and to the U-SPSPM motor; a phase sensor connected between the AC power source and the microcontroller configured to send a signal representative of zero crossing to the microcontroller; a current sensing circuit coupled to the microcontroller configured to send a signal representative of a current value to the microcontroller; a voltage sensing circuit coupled to the microcontroller configured to send a signal representative of a voltage value to the microcontroller; a triac connected in series between the (AC) power source and the U-SPSPM motor, and coupled to the microcontroller; and an observer model in the microcontroller configured to determine back electromotive force (back-EMF) and estimate a position of the rotor based on the back-EMF.
 15. The circuit of claim 14 in a dishwasher where the U-SPSPM motor is associated with one of a wash pump or a drain pump. 